Vehicle Lane Control Using Map-Camera Marking Alignment
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Solution Overview
Problem
Existing automated driving technologies struggle with appropriate driving control when road marking lines indicated by a camera image and those from map information are separated, particularly when considering changes in the extending direction of the road marking lines or the position of nearby vehicles.
Innovation Solution
A vehicle control device and method that utilizes a first and second recognizer to identify road marking lines from camera and map information, respectively, with a driving controller adjusting steering and speed based on these recognitions, and a traveling trajectory estimator to determine the direction and timing of nearby vehicles, ensuring continued control when separation exceeds a threshold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If driving control is performed based on camera-recognized road marking lines, then the system can detect real-time road conditions, but the control accuracy deteriorates when the marking lines are separated or changing direction
Solution Approach 1:
The patent introduces a traveling trajectory estimator as an intermediary component that predicts the future position and direction of neighboring vehicles. This estimator mediates between the potentially inaccurate camera-based marking line detection and the driving control system, providing compensated control decisions that account for vehicle trajectories even when marking lines are separated or changing direction.
2Productivity
If the system continues driving control when marking lines are separated, then operational continuity is maintained, but safety may be compromised without proper trajectory estimation
Solution Approach 1:
The system performs preliminary action by estimating the traveling trajectories of neighboring vehicles in advance before making driving control decisions. The traveling trajectory estimator predicts where vehicles will be in the future, allowing the driving control system to proactively adjust control parameters to avoid potential collisions, even when road marking lines are separated or unreliable.
3Stability of the object's composition
If the system switches control basis between first and second marking lines when separated, then control stability is improved, but complexity increases due to trajectory estimation requirements
Solution Approach 1:
The traveling trajectory estimator serves multiple functions simultaneously: it predicts neighboring vehicle positions, compensates for marking line separation issues, provides safety margins for collision avoidance, and stabilizes driving control decisions. This multi-functionality reduces the need for separate specialized components, thereby managing system complexity while achieving control stability.
Data Source
AI summary
A vehicle control device includes: a first recognizer configured to recognize a first marking line defining a traveling lane of a host vehicle and a surrounding situation including a neighboring vehicle; a second recognizer configured to recognize a second marking line defining a lane near the host vehicle from map information; a driving controller configured to perform driving control. An intermediate direction between an extending direction of the other of the first marking line and the second marking line and a longitudinal direction of a vehicle body of the neighboring vehicle is estimated as a moving direction of the neighboring vehicle, and a time which the neighboring vehicle is to take to depart from one marking line is calculated when the neighboring vehicle moves in the estimated moving direction. The driving control continues to be performed when the calculated time is equal to or greater than a threshold value.